Cleaning robot

ABSTRACT

A cleaning robot includes a housing assembly, a roller brush, a driving module, a dust box, a suction device, a power supply battery and two travelling modules. The housing assembly has a front end and a rear end, and a bottom of the housing assembly is recessed to form a mounting cavity. The roller brush is rotatably arranged in the mounting cavity and can be driven to rotate by the driving module. The two travelling modules are arranged at the rear end of the housing assembly and are spaced from the roller brush in a front-rear direction of the housing assembly.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is based upon and claims priority to Chinese Patent Application CN202123435624.0, filed Dec. 30, 2021, the entire contents of which are incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to the technical field of cleaning devices, and more particularly, to a cleaning robot.

BACKGROUND

A series of cleaning robots, such as mopping robots and mopping-sweeping robots, are devices that are configured to perform cleaning tasks while traveling in any area without user control, and are usually used to clean the garbage on the ground.

A bottom of the traditional cleaning robot is provided with a roller brush and two wheel structures. The two wheel structures are configured to drive the cleaning robot to travel on the ground. The roller brush lifts up dust, debris and other dirt on the ground while rotating, and then the dirt is sucked into the cleaning robot.

However, the roller brush of the traditional cleaning robot is usually arranged between the two wheel structures, as a result the roller brush has to be set to be relatively short due to being subject to the two wheel structures, which leads to that the roller brush only can clean a small area each time, which further reduce the cleaning efficiency of the cleaning robot.

SUMMARY

There is provided a cleaning robot according to embodiments of the present disclosure. The technical solution is as below:

According to a first aspect of embodiments of the present disclosure, there is provided a cleaning robot, comprising:

a housing assembly, having a front end and a rear end, wherein a bottom of the housing assembly is recessed to form a mounting cavity;

a driving module;

a roller brush, rotatably arranged in the mounting cavity, and capable of being driven to rotate by the driving module; and

two travelling modules, arranged at the rear end of the housing assembly and paced from the roller brush in a front-rear direction of the housing assembly, and are respectively located on both sides of the dust box.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to illustrate embodiments of the present disclosure or the technical solutions in the prior art more clearly, the drawings that are used in the description of the embodiments or the prior art will be introduced briefly as follows. Obviously, the drawings in the following description are only some embodiments of the present disclosure, for those of ordinary skill in the art, other drawings may also be obtained based on the structures shown in these drawings without creative labor.

FIG. 1 is a sectional view of a cleaning robot according to an embodiment of the present disclosure.

FIG. 2 is an exploded view of the cleaning robot according to an embodiment of the present disclosure.

FIG. 3 is a top view of the cleaning robot according to an embodiment of the present disclosure.

FIG. 4 is a sectional view of the cleaning robot according to another embodiment of the present disclosure.

FIG. 5 is a sectional view of the cleaning robot according to still another embodiment of the present disclosure.

The realization, functional characteristics and advantages of the present disclosure will be further described with reference to the accompanying drawings in conjunction with the embodiments.

DETAILED DESCRIPTION

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, but not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

It should be noted that all directional indications (such as up, down, left, right, front, back) in the embodiments of the present disclosure are only used to explain the relative positional relationship and the movement situation among various components under a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly.

In addition, the descriptions including “first” and “second” in the present disclosure are only for descriptive purposes, and should not be understood as indicating or implying their relative importance or implying the number of indicated technical features. Thus, a feature delimited with “first”, “second” may expressly or implicitly include at least one of that feature. In addition, the technical solutions in the various embodiments may be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or may not be realized, it should be considered that the combination of technical solutions is not exists, and it is not within the protection scope of the present disclosure.

The present disclosure provides a cleaning robot, such as a sweeping robot, a mopping robot and a mopping and sweeping all-in-one robot, which may be a device capable of autonomously traveling on the ground to perform cleaning actions such as vacuuming, mopping and washing on the ground. The cleaning robot may also be a device that performs cleaning actions such as vacuuming, mopping, and washing on the ground under the user's grip or manipulation, such as a hand-held vacuum cleaner and a hand-held mopping device.

Referring to FIGS. 1-3 , the cleaning robot 1000 includes a housing assembly 100, a roller brush 200, a driving module 300, a dust box 400, a suction device 500, a power supply battery 600, a travelling module 700 and a main control module 750. The roller brush 200 and the driving module 300, the dust box 400, the suction device 500, the power supply battery 600, the travelling module 700 and the main control module 750 are all mounted on or in the housing assembly 100.

The housing assembly 100 not only serves as a bearing structure for other components of the cleaning robot 1000, but also serves as an appearance structure of the cleaning robot 1000. The housing assembly 100 has many shapes. The housing assembly 100 may be arranged in a cylindrical shape, or the housing assembly 100 may also be arranged in a square column shape, or the housing assembly 100 may be arranged in other shapes. The shape of the housing assembly 100 is not specifically limited herein.

The housing assembly 100 has a front end and a rear end opposite to the front end in a traveling direction of the cleaning robot 1000, and a bottom of the front end of the housing assembly 100 is recessed to form a mounting cavity 110. The mounting cavity 110 has various shapes. The mounting cavity 110 may be arranged in a cylindrical cavity, or the mounting cavity 110 may also be arranged in a cube-shaped cavity, which is not specifically limited herein. Since the mounting cavity 110 is mainly configured for the mounting of the roller brush 200, the mounting cavity 110 may be arranged in a cylindrical shape.

An opening of the mounting cavity 110 is arranged toward the bottom of the cleaning robot 1000, so that when the housing assembly 100 is placed on a surface to be cleaned, the opening of the mounting cavity 110 faces the surface to be cleaned. The shape of the opening of the mounting cavity 110 may be a rectangle, an ellipse and other shapes. In some embodiments, the opening of the mounting cavity 110 is formed in a rectangular shape, so that the roller brush 200 can protrude from the opening of the mounting cavity 110.

The roller brush 200 is generally arranged in a cylindrical shape. The roller brush 200 is rotatably arranged in the mounting cavity 110 and is in clearance fit with a cavity wall of the mounting cavity 110. Both ends of the roller brush 200 in an axial direction are rotatably connected to the housing assembly 100. The roller brush 200 and the housing assembly 100 may be rotatably connected in many ways. For example, the roller brush 200 and the housing assembly 100 are rotatably connected by a rotating shaft and a bearing. For another example, the roller brush 200 and the housing assembly 100 are rotatably connected by a rotating shaft and a bushing.

When the roller brush 200 is mounted in the mounting cavity 110, part of the roller brush 200 protrudes from the opening of the mounting cavity 110, so that an outer peripheral edge of the roller brush 200 can contact the ground. For example, a protruding volume of the roller brush 200 from the opening of the mounting cavity 110 is one-fifth of the volume of the roller brush. For another example, the protruding volume of the roller brush 200 from the opening of the mounting cavity 110 is one-fourth of the volume of the roller brush, which will not be listed herein.

The driving module 300 is configured to drive the roller brush 200 to rotate relative to the housing assembly 100. There are many types of the driving module 300. The driving module 300 may be composed of a motor 310 and a coupling. One end of the coupling is connected to an output shaft of the motor 310, and the other end of the coupling is connected to the roller brush 200. The driving module 300 may also be composed of a reduction gearbox and a motor. An input end of the reduction gearbox is connected to the output shaft of the motor, and an output end of the reduction gearbox is connected to the roller brush 200. The types of the driving module 300 are not listed one by one herein.

The dust box 400 is mounted on the housing assembly 100 and is located between the front end and the rear end of the housing assembly 100. The dust box 400 is mainly configured to collect dust, debris and other dirt, and the shape of the dust box 400 may be arranged according to requirements. For example, the dust box 400 may be arranged in a square shape. For another example the dust box 400 may be arranged in a “7” shape. The dust box 400 may also be arranged in other shapes, which are not listed herein.

Since the dust, debris and other dirt collected in the dust box 400 need to be cleaned regularly, the dust box 400 is usually detachably connected to the housing assembly 100, and there are many types of detachable connections. For example, the dust box 400 is connected to the housing assembly 100 by a magnetic assembly. For another example, the dust box 400 is connected to the housing assembly 100 by a snap assembly. The types of detachable connections will not be listed herein.

The suction device 500 is mounted in the housing assembly 100 and is located behind the dust box 400. The suction device 500 may be a centrifugal fan, a cross-flow fan or an axial flow fan. The suction device 500 is communicated to the dust box 400 and provides a suction force for the dust box 400 to collect dust, debris and other dirt, so that the dust, debris and other dirt brushed by the roller brush 200 can be sucked into the dust box 400.

The power supply battery 600 is mainly configured to supply power for the driving module 300, the suction device 500, the travelling module 700 and the main control module 750. The power supply battery 600 is arranged in the housing assembly 100 and is located behind the dust box 400. The power supply battery 600 and the suction device 500 may be placed in a front-rear direction of the housing assembly 100, or the power supply battery 600 and the suction device 500 may also be distributed in a left-right direction of the housing assembly 100. In some embodiments, the power supply battery 600 and the suction device 500 are distributed in the left-right direction of the housing assembly 100, so that the length of the housing assembly 100 in the front-rear direction can be shortened, and the space of the housing assembly 100 can be fully utilized.

The travelling module 700 is arranged on the housing assembly 100. The travelling module 700 is configured to drive the housing assembly 100 to travel on the ground. There are many types of the travelling module 700. The travelling module 700 may also be composed of a motor and a track structure, or the traveling module 700 may also be composed of a motor and traveling wheels, and the traveling module 700 may also be composed of other structural components, which will not be listed herein.

The two travelling modules 700 are arranged at the bottom of the housing assembly 100 and are located at the rear end of the housing assembly 100. In some embodiments, the two travelling modules 700 are located in the middle of the housing assembly. The two travelling modules 700 are spaced from the roller brush 200 in the front-rear direction of the housing assembly 100. In an embodiment, a driving device can be arranged between the travelling module 700 and the roller brush 200. The distance between the two travelling modules 700 and the roller brush 200 can be set according to the practice situation. In some embodiments, the distance between the two travelling modules 700 and the roller brush 200 may be set according to a gravity center of the cleaning robot 1000, so as to ensure that the cleaning robot 1000 travels smoothly on the ground.

The two travelling modules 700 may also be distributed at intervals in the left-right direction of the housing assembly 100. The distance between the two travelling modules 700 may also be set according to practice situation. Since the mounting of the two travelling modules 700 needs to occupy a certain space, the two travelling modules 700 are respectively located on the left and right sides of the dust box 400, that is, the two travelling modules 700 are arranged adjacent to the left and right edges of the housing assembly 100.

The main control module 750 may be a single-chip microcomputer, a Pulse-Width Modulation (PWM) controller, a microcontroller, or other structural components capable of receiving signals and transmitting signals. The main control module 750 is electrically connected to the driving module 300, the suction device 500, the power supply battery 600 and the two travelling modules 700. The main control module 750 is configured to control the driving module 300, the suction device 500 and the two travelling modules 700 to work, so that the cleaning robot 1000 can perform cleaning actions on the ground.

In the present disclosure, the mounting cavity 110 for mounting the roller brush 200 is provided at the bottom of the housing assembly 100, and two traveling modules 700 are arranged at the bottom of the housing assembly 100. The two traveling modules 700 and the roller brush 200 are arranged at intervals in a front-rear direction of the housing assembly 100, so that a length of the roller brush 200 is not subject to the two traveling modules 700 since the two traveling modules 700 are not arranged at both ends of the roller brush 200 in a length direction. Therefore, a length of the roller brush 200 can be set as large as possible, thereby increasing the cleaning area of the roller brush 200, which is beneficial to improve the cleaning efficiency of the cleaning robot 1000.

When the housing assembly 100 of the cleaning robot 1000 is arranged in a cylindrical shape, the longest diameter of the bottom of the housing assembly 100 is in the middle of the housing assembly 100. That is, in this circumstance, the mounting cavity 110 needs to be arranged in the middle of the housing assembly 100 to ensure that the mounting cavity 110 can be arranged with a long enough roller brush 200. However, it will affect the arrangement of the dust box 400, the suction device 500 and the power supply device of the cleaning robot 1000, and the distance between the roller brush 200 and the front end of the housing assembly 100 will be too large, thereby affecting the cleaning performance of the cleaning robot 1000.

In view of the above-mentioned problems, in some embodiments of the present disclosure, referring to FIG. 3 , the front end of the housing assembly 100 is arranged in a flat plate shape, and the rear end of the housing assembly 100 may be set arbitrarily, for example, the rear end of the housing assembly 100 may be arranged in an arc shape, so that a cross section of the entire housing assembly 100 is arranged in a D-shape. For another example, the rear end of the housing assembly 100 may also be arranged in a flat plate shape, so that the cross section of the entire housing assembly 100 is arranged in a truncated cone shape. The shape of the housing assembly 100 is not specifically limited herein.

In one embodiment, the front edge of the housing assembly is arranged in a straight line style, and the mounting cavity is arranged at the bottom of the front end of the extension part and is arranged along the front edge of the extension part.

The mounting cavity 110 is arranged at a bottom of the front end of the housing assembly 100, and the mounting cavity 110 is also extended along a front edge of the housing assembly 100. In this circumstance, a length of the mounting cavity 110 may be shorter than or equivalent to a length of the front edge of the housing assembly 100. A length of the roller brush 200 is matched with the length of the mounting cavity 110, so that the length of the roller brush 200 can be ensured, and the cleaning efficiency of the cleaning robot 1000 can be ensured.

In some embodiments, the rear end of the housing assembly 100 is arranged in an arc shape. That is, the cross section of the entire housing assembly 100 is arranged in a D-shape, and the rear end of the housing assembly 100 is provided with a dust outlet and/or a charging connector, so that the housing assembly 100 with the D-shaped cross section can be matched with a cleaning base station in related art, which facilitates the maintenance of the cleaning robot 1000 with the D-shaped cross section.

It is worth noting that the distance between the front edge of the roller brush 200 and the front edge of the housing assembly 100 should not be too large. Referring to FIG. 4 , the distance between the front edge of the roller brush 200 and the front edge of the housing assembly 100 is 0˜30 mm, that is, the distance between the roller brush 200 and the front edge of the housing assembly 100 may be 5 mm, 6 mm, 7 mm, 8 mm, 9 mm, 10 mm, 11 mm, 12 mm, 13 mm, 14 mm, 15 mm and other values within the above range. Therefore, the distance between the roller brush 200 and the front edge of the housing assembly 100 may be limited to a sufficiently small range, so that the remaining area that cannot be cleaned is smaller, which is beneficial to improve the cleaning effect of the roller brush 200.

Since the housing assembly 100 has a certain height, which limits a height that the cleaning robot 1000 can pass through, that is, the cleaning robot 1000 cannot clean the space lower than the height of the housing assembly 100. In view of the above-mentioned problem, in some embodiments of the present disclosure, referring to FIG. 4 , a part of the front end of the housing assembly 100 adjacent to the ground is protruded forward to form a protruding portion 120. At least part of the mounting cavity 110 is formed under the protruding portion 120. In some embodiments, the mounting cavity 110 may be formed under the protruding portion 120 when the protruding portion 120 is protruded forward long enough.

Since the protruding portion 120 is formed by protruding the front end of the housing assembly 100 forward from an area adjacent to the ground, the height of the projection 120 is arranged lower than the height of the housing assembly 100. Besides, since part of the roller brush 200 is arranged below the protruding portion 120, the protruding portion 120 of the housing assembly 100 can extend into the space lower than the height of the housing assembly 100 and higher than the protruding portion 120 for cleaning. In this way, the cleaning robot 1000 can clean the space under the sofa, the space under the tea table and other spaces with small height.

In an embodiment, the housing assembly includes a main part and an extension part located in the front of the main part. The thickness of the extension part is smaller than that of the main part, and the position of the top surface of the extension part is lower than that of the top surface of the main part.

It should be noted that there are usually various items placed on the ground, and the cleaning robot 1000 is easy to touch the items on the ground while travelling on the ground. In order to prevent the cleaning robot 1000 from being damaged when colliding with the items on the ground, the front end of the housing assembly 100 of the cleaning robot 1000 is usually equipped with a front anti-collision structure 800, which usually includes an anti-collision strip, an elastic reset portion and a detection switch. The anti-collision strip is movably arranged at the front end of the housing assembly 100, and the elastic reset portion is arranged on the housing assembly 100 and acts on the anti-collision strip to drive the anti-collision strip to reset. The detection switch is triggered when the anti-collision strip is generated, and the generated trigger signal is sent to the main control module 750, so that the main control module 750 can control the operation of the travelling module 700.

Since the anti-collision strip in the front anti-collision structure 800 is arranged to protrude from the front end of the housing assembly 100, if a width of the anti-collision strip of the front anti-collision structure 800 is too thick in the travelling direction of the cleaning robot 1000, the distance between the front edge of the anti-collision strip and the roller brush 200 is relatively large, leading to a relatively large area where the roller brush 200 cannot be cleaned. In view of the above-mentioned problem, the distance between the front edge of the roller brush 200 and the anti-collision strip of the front anti-collision structure 800 will be limited to 0˜35 mm.

That is, the distance between the roller brush 200 and the anti-collision strip of the front anti-collision structure 800 is 5 mm, 6 mm, 7 mm, 8 mm, 9 mm, 10 mm, 11 mm, 12 mm, 13 mm, 14 mm, 15 mm, 16 mm, 17 mm, 18 mm, 19 mm, 20 mm and other values within the above range. Therefore, the distance between the roller brush 200 and the anti-collision strip of the front anti-collision structure 800 can be limited to a small enough range, so that the area where the roller brush 200 cannot be cleaned is smaller, which is beneficial to improve the cleaning effect of the roller brush 200.

It is worth noting that, since the length of the roller brush 200 is not restricted by the two traveling modules 700, the length of the roller brush 200 can be set according to the width of the housing assembly 100 in the left-right direction. However, if the length of the roller brush 200 is too large, the arrangement of other components of the cleaning robot 1000 will be affected, and if the length of the roller brush 200 is too small, the cleaning area of the roller brush 200 will be affected.

In view of the above-mentioned problem, referring to FIG. 5 , a ratio of the length of the roller brush 200 in the axial direction to the length of the housing assembly 100 in the roller brush 200 is 7/10˜1. That is, the length of the roller brush 200 in the axial direction may be set to exceed 70% of the width of the housing assembly 100 in the axial direction of the roller brush 200. This arrangement can not only ensure that the arrangement of other components of the cleaning robot 1000 is not affected when the roller brush 200 is assembled to the bottom of the housing assembly 100, but also can ensure the cleaning area of the roller brush 200, which is beneficial to ensure the cleaning efficiency of the cleaning robot 1000.

It should be noted that, the bottom of the housing assembly 100 of the cleaning robot 1000 is usually equipped with cliff sensors 850. The cliff sensors 850 are usually arranged at the bottom of the housing assembly 100 and located in front of the travelling module 700, to detect whether there are pits or cliffs on the ground where the cleaning robot 1000 is located. Since the cliff sensors 850 have a certain volume, if the cliff sensors 850 are assembled in front of the roller brush 200, the distance between the roller brush 200 and the front edge of the housing assembly 100 will increase. If the cliff sensors 850 are assembled to both ends of the roller brush 200 in the axial direction, the roller brush 200 needs to be shortened. However, both of the above mentioned implementations may be exploited when the volume of the cliff sensors 850 is reduced and the wires are properly positioned. In some embodiments, at least one of the two cliff sensors 850 is arranged on a bottom of the housing assembly and is located closely at the front side of the roller brush 200.

Furthermore, in view of the above-mentioned problem, in one embodiment, referring to FIG. 3 , one cliff sensor 850 is arranged on one end of the roller brush 200 in the axial direction, and the other cliff sensor 850 is arranged behind a position where the other end of the roller brush 200 in the axial direction is rotatably connected to the housing assembly 100, which can not only ensure that the two cliff sensors 850 can effectively detect the scene in the traveling direction of the cleaning robot 1000, but also ensure that the roller brush 200 can be set to be long enough.

Specifically, referring to FIG. 2 and FIG. 3 together, the housing assembly 100 includes an upper cover 130, a chassis 140 and a middle sweeping bracket 150. The upper cover 130 is covered on the chassis 140, and a front end of the chassis 140 is provided with an assembly port 141. The middle sweeping bracket 150 is arranged in the assembly port 141 and is fixedly connected to the chassis 140. The mounting cavity 110 is formed on the middle sweeping bracket 150. The roller brush 200 is rotatably connected to the middle sweeping bracket 150 and is located in the mounting cavity. One end of the chassis 140 located in the axial direction of the roller brush 200 is provided with a first mounting groove 142 for matching with the cliff sensor 850 in a plug-in manner.

A part of an end of the middle sweeping bracket 150 away from the first mounting groove 142 is recessed to form a second mounting groove 160 together with an edge of the assembly opening 141. The second mounting groove 160 is located behind a position where the roller brush 200 is rotatably connected to the middle sweeping bracket 150. In this way, the two ground detection devices 850 can be arranged at the bottom of the front end of the housing assembly 100, so that the road conditions ahead in the traveling direction of the cleaning robot 1000 can be quickly detected, and the space around the position where the roller brush 200 is rotatably connected to the middle sweeping bracket 150 can be fully utilized, which is beneficial to improve the compactness of the cleaning robot 1000.

Since there are gaps between the two ends of the roller brush 200 in the axial direction and the side walls of the housing assembly 100 in the axial direction of the roller brush 200. In view of the above-mentioned problem, referring to FIG. 3 , the cleaning robot 1000 further includes a side sweeping brush 900, which is arranged at the bottom of the housing assembly 100 and is arranged behind the position where the roller brush 200 is rotatably connected to the middle sweeping bracket 150. The cleaning area of the side sweeping brush 900 can cover the area between one end of the roller brush 200 in the axial direction and the side wall of the housing assembly 100 in the axial direction of the roller brush 200. In this way, the cleaning area of the cleaning robot 1000 is greater than or equal to the width of the housing assembly 100 of the cleaning robot 1000 in the left-right direction, which further increases the cleaning area of the cleaning robot 1000.

In some embodiments, the side sweeping brush may be arranged on the left or right side of the roller brush in an axial direction.

In some embodiments, the side sweeping brush may be arranged in front of the roller brush, while the housing assembly has enough space in front of the roller brush.

In some embodiments, the side sweeping brush is arranged on a side of the front of the roller brush.

Since the driving module 300 drives the entire roller brush 200 to rotate by driving the end of the roller brush 200 in the axial direction, the driving module 300 needs to be connected to the end of the roller brush 200 in the axial direction in a transmission manner. If the driving module 300 is directly assembled to one end of the roller brush 200 in the axial direction, the length of the roller brush 200 will be affected. In view of the above-mentioned problem, a part of the driving module 300 is assembled to one end of the roller brush 200 in the axial direction, and the other part of the driving module 300 is assembled behind the roller brush 200.

Specifically, referring to FIG. 1 , the driving module 300 includes a motor 310 and a reduction gearbox 320. The motor 310 is mounted on the housing assembly 100 and is located at the rear side of the roller brush 200. The reduction gearbox 320 is assembled to the housing assembly 100 in the front-rear direction. An input end of the reduction gearbox 320 is connected to an output shaft of the motor 310, and an output end of the reduction gearbox 320 is connected to one end of the roller brush 200 in the axial direction in a transmission manner. In this way, it can avoid getting into a situation where the roller brush 200 has to be shortened due to the motor 310 being arranged at one end of the roller brush 200 in the axial direction.

It should be noted that the reduction gearbox 320 may be driven by a gear assembly, or the reduction gearbox 320 may be driven by a pulley and a belt. The reduction gearbox 320 may also be driven by a sprocket and a chain. In some embodiments, the reduction gearbox 320 is driven by a gear assembly, which can not only reduce the number of parts, but also ensure that the thickness of the reduction box 320 is relatively thin, thereby avoiding the influence of the driving module 300 on the length of the roller brush 200.

It should be noted that the roller brush 200 and the two travelling modules 700 of the cleaning robot 1000 are arranged at intervals in the front-rear direction. If the distance between the roller brush 200 and the two traveling wheels is large, it is easy to cause the front end of the housing 100 of the cleaning robot 1000 to directly contact the ground when the cleaning robot 1000 is travelling, thereby affecting the normal travelling of the cleaning robot 1000. In view of the above-mentioned problem, in some embodiments of the present disclosure, referring to FIG. 3 , the bottom of the front end of the housing assembly 100 is further provided with an auxiliary wheel 950. The auxiliary wheel 950 is also arranged behind the mounting cavity 110, that is, the auxiliary wheel 950 is located behind the roller brush 200, and the auxiliary wheel 950 becomes another support point of the cleaning robot 1000, which also ensures that the cleaning robot 1000 can travel smoothly on the ground. In some embodiments, there is another auxiliary wheel on the rear end of the housing assembly.

It should be noted that, in some embodiments, the mounting cavity can be arranged in the middle of the housing assembly when the other components are properly arranged, and the roller brush 200 can be long enough by setting the traveling modules and the roller brush out of line.

In the present disclosure, the mounting cavity for mounting the roller brush is arranged at the bottom of the housing assembly, and two traveling modules are arranged at the bottom of the housing assembly. The two traveling modules and the roller brushes are arranged at intervals in a front-rear direction of the housing assembly, so that a length of the roller brush can be prevented from being limited by the two traveling modules being arranged at both ends of the roller brush in a length direction. Therefore, a length of the roller brush can be set as large as possible, thereby increasing the cleaning area of the roller brush, which is beneficial to improve the cleaning efficiency of the cleaning robot.

Described above are only preferred embodiments of the present disclosure, and are not intended to limit the scope of the present disclosure. Under the inventive concept of the present disclosure, equivalent structural transformations made by using the contents of the description and drawings of the present disclosure, or directly/indirectly applied in other related technical fields are all included in the scope of patent protection of the present disclosure. 

What is claimed is:
 1. A cleaning robot, comprising: a housing assembly, having a front end and a rear end, wherein a bottom of the housing assembly is recessed to form a mounting cavity; a driving module; a roller brush, rotatably arranged in the mounting cavity, and capable of being driven to rotate by the driving module; and two travelling modules, arranged at the rear end of the housing assembly and spaced from the roller brush in a front-rear direction of the housing assembly.
 2. The cleaning robot of claim 1, further comprising: a dust box, arranged in the housing assembly and communicated with the mounting cavity, and at least part of which is located behind the mounting cavity; a suction device, arranged on the housing assembly and located behind the dust box, and communicated with the dust box; and a power supply battery, arranged on the housing assembly and located behind the dust box; wherein the two travelling modules are respectively located at both sides of the dust box.
 3. The cleaning robot of claim 1, wherein the front end of the housing assembly is arranged in a flat plate shape, wherein the mounting cavity is arranged at a bottom of the front end of the housing assembly, and the mounting cavity is extended along a front edge of the housing assembly.
 4. The cleaning robot of claim 3, wherein a distance between a front edge of the roller brush and the front edge of the housing assembly is 0-20 mm.
 5. The cleaning robot of claim 3, wherein the front end of the housing assembly is equipped with a front anti-collision structure, and a distance between the front edge of the roller brush and a front edge of the front anti-collision structure is 0-35 mm.
 6. The cleaning robot of claim 3, wherein a ratio of a length of the roller brush in an axial direction to a length of the housing assembly in the axial direction of the roller brush is 7/10˜1.
 7. The cleaning robot of claim 1, wherein the driving module comprises a motor and a reduction gearbox, wherein the motor is arranged in the housing assembly and is located at a rear side of the roller brush, and the reduction gearbox is assembled to the housing assembly in the front-rear direction, wherein an input end of the reduction gearbox is connected to an output shaft of the motor, and an output end of the reduction gearbox is connected to the roller brush.
 8. The cleaning robot of claim 1, further comprising a side sweeping brush, wherein the side sweeping brush is arranged on a bottom of the housing assembly and is located behind one end of the roller brush in an axial direction, and a diameter of a cleaning area of the side sweeping brush is greater than a distance between an end of the roller brush adjacent to the side sweeping brush and a side of the housing assembly adjacent to the side sweeping brush.
 9. The cleaning robot of claim 1, further comprising a side sweeping brush, wherein the side sweeping brush may be arranged on the left or right side of the roller brush in an axial direction.
 10. The cleaning robot of claim 1, further comprising a side sweeping brush, wherein the side sweeping brush is arranged in front of the roller brush.
 11. The cleaning robot of claim 10, wherein the side sweeping brush is arranged on a side of the front of the roller brush.
 12. The cleaning robot of claim 1, further comprising two cliff sensors, wherein at least one of the two cliff sensors is arranged on a bottom of the housing assembly and is located at one end of the roller brush in an axial direction of the roller brush.
 13. The cleaning robot of claim 1, further comprising two cliff sensors, wherein at least one of the two cliff sensors is arranged on a bottom of the housing assembly and is located closely at the front side of the roller brush.
 14. The cleaning robot of claim 1, wherein an area of the front end of the housing assembly adjacent to the ground is protruded forward to form a protruding portion, and at least part of the mounting cavity is formed in the protruding portion.
 15. The cleaning robot of claim 1, wherein the housing assembly comprises a main part and an extension part located in a front of the main part, wherein a thickness of the extension part is smaller than that of the main part, and a position of atop surface of the extension part is lower than that of a top surface of the main part.
 16. The cleaning robot of claim 15, wherein a front edge of the housing assembly is arranged in a straight line style, and the mounting cavity is arranged at a bottom of a front end of the extension part and is arranged along the front edge of the extension part.
 17. The cleaning robot of claim 1, wherein an auxiliary wheel is further provided at a bottom of the front end of the housing assembly, and the auxiliary wheel is located behind the mounting cavity.
 18. The cleaning robot of claim 1, wherein a distance between the two travelling modules and the roller brush is set according to a gravity center of the cleaning robot.
 19. The cleaning robot of claim 1, wherein the mounting cavity is arranged in the middle of the housing assembly.
 20. The cleaning robot of claim 1, wherein the housing assembly comprises: a chassis, a front end of which is provided with an assembly port; an upper cover, covered on the chassis; and a middle sweeping bracket, arranged in the assembly port and fixedly connected to the chassis, wherein the mounting cavity is formed on the middle sweeping bracket, and the roller brush is rotatably connected to the middle sweeping bracket. 